Jazzy - Wrong parameter type error

[vipermn]

First off, very nice tool! Well done user interface!

I am running Jazzy on both the physical robot (Raspberry Pi 5 with Ubuntu 24.04) and the remote computer laptop(Ubuntu 24.04). I have the Nav2 stack running on the physical robot and nav2_config running on my laptop.

My process is to modify the nav2 yaml file located on the laptop computer and push to git. Then on the physical robot do a git pull to get the latest yaml file.

nav2_config easily restarts the nav2 stack running on the physical robot.

However, I am getting the following error:
[INFO] [1775440474.529650495] [nav2_config_node]: Setting /velocity_smoother/max_velocity → 2.0, 0.0, 2.5
[WARNING] nav2_config.core.param_client: set_param(/velocity_smoother, max_velocity) rejected: Wrong parameter type, parameter {max_velocity} is of type {double_array}, setting it to {string} is not allowed.
[ERROR] [1775440474.548546470] [nav2_config_node]: ✗ Failed to set /velocity_smoother/max_velocity = 2.0, 0.0, 2.5: Wrong parameter type, parameter {max_velocity} is of type {double_array}, setting it to {string} is not allowed.

Here is a screen shot (note the double quotes on the parameter I am trying to set, rather than data like seen on max_accel just above.

Also, after making changes to the Velocity Smoother, it shows to restart. How do I restart just the Velocity Smoother?

[sutharsan-311]

Thanks for the report and the kind words.
The max_velocity issue is a type inference bug, when a param isn't in the schema, the tool infers its type from the live value. For double_array params it's not always getting that right, which is why you see double quotes in the display and the string rejection from ROS2. Working on a fix.
For restarting just the Velocity Smoother right click the node in the left panel and select "Restart Node". That restarts only that node rather than the whole stack.

[sutharsan-311]

Fix pushed in the latest commit. Pull the latest and it should handle max_velocity and other double_array params correctly now. Let me know if you still see the issue.

[vipermn]

I pulled in your latest changes and did some more testing.

I am still getting this error when trying to set the double_array value:
[INFO] [1775526108.662416859] [nav2_config_node]: Setting /velocity_smoother/deadband_velocity → 0.2 0.0, 0.2
[WARNING] nav2_config.core.param_client: set_param(/velocity_smoother, deadband_velocity) rejected: Wrong parameter type, parameter {deadband_velocity} is of type {double_array}, setting it to {string} is not allowed.
[ERROR] [1775526108.708504429] [nav2_config_node]: ✗ Failed to set /velocity_smoother/deadband_velocity = 0.2 0.0, 0.2: Wrong parameter type, parameter {deadband_velocity} is of type {double_array}, setting it to {string} is not allowed.

At least the display in the right side YAML Output window appears to display properly:

Also, I don't see how to just restart the one service. Right Clicking on the Velocity Smoother only gives me a "Restart Nav2 Stack" option, which does restart the complete Nav2 Stack.

In addition, I am on Jazzy. Doing a diff on the file after just starting nav2_config without making any changes shows that any comments and blank lines are removed. True is set to true. Double quotes are removed. Plugin arrays are separated into multiple lines. I don't know if this is a Humble format, but it differs from the Jazzy format that I see in the official docs.

Diff Example:

Jazzy Nav2 docs example:

[sutharsan-311]

Sorry for the confusion on the earlier fix, that only covered params outside the schema, but max_velocity, deadband_velocity and the other velocity_smoother params are in the schema and were typed wrong there (string instead of double_array). That's now fixed in the latest commit.
Also added a runtime guard, if a schema type ever mismatches the live ROS2 type again, the tool now logs a warning and uses the correct ROS2 type automatically. So this class of bug can't silently affect you again.
Pull the latest and it should work for all velocity_smoother array params now.
On the YAML formatting issue (comments stripped, inline arrays split to multiline, True→true) that's a known limitation of the YAML library we're using. Working on a fix using ruamel.yaml which preserves round-trip formatting. Will update here when that's in.
For restarting a single node enable Expert Mode in the toolbar first, then right click the node.

On restarting a single node, if you set autostart: false in your launch file, nodes start unconfigured and you get full individual control via Expert Mode. That's actually the cleanest setup for a robot where you want surgical control over each component.
For a running stack with autostart: true, enable Expert Mode in the toolbar then right click the node → Restart Node. Be aware it bypasses lifecycle_manager so there's some risk on an active stack.